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<div class="title">normal_3d.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_NORMAL_3D_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_NORMAL_3D_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="centroid_8h.html">pcl/common/centroid.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  computePointNormal (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                      Eigen::Vector4f &amp;plane_parameters, <span class="keywordtype">float</span> &amp;curvature)</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="comment">// Placeholder for the 3x3 covariance matrix at each surface patch</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="comment">// 16-bytes aligned placeholder for the XYZ centroid of a surface patch</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    Eigen::Vector4f xyz_centroid;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">if</span> (cloud.size () &lt; 3 ||</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (cloud, covariance_matrix, xyz_centroid) == 0)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      plane_parameters.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      curvature = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="comment">// Get the plane normal and surface curvature</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    solvePlaneParameters (covariance_matrix, xyz_centroid, plane_parameters, curvature);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  computePointNormal (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                      Eigen::Vector4f &amp;plane_parameters, <span class="keywordtype">float</span> &amp;curvature)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="comment">// Placeholder for the 3x3 covariance matrix at each surface patch</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="comment">// 16-bytes aligned placeholder for the XYZ centroid of a surface patch</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    Eigen::Vector4f xyz_centroid;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordflow">if</span> (indices.size () &lt; 3 ||</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (cloud, indices, covariance_matrix, xyz_centroid) == 0)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      plane_parameters.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      curvature = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="comment">// Get the plane normal and surface curvature</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    solvePlaneParameters (covariance_matrix, xyz_centroid, plane_parameters, curvature);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  flipNormalTowardsViewpoint (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keywordtype">float</span> vp_x, <span class="keywordtype">float</span> vp_y, <span class="keywordtype">float</span> vp_z,</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                              Eigen::Matrix&lt;Scalar, 4, 1&gt;&amp; normal)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    Eigen::Matrix &lt;Scalar, 4, 1&gt; vp (vp_x - point.x, vp_y - point.y, vp_z - point.z, 0);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="comment">// Dot product between the (viewpoint - point) and the plane normal</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordtype">float</span> cos_theta = vp.dot (normal);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="comment">// Flip the plane normal</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordflow">if</span> (cos_theta &lt; 0)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    {</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      normal *= -1;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      normal[3] = 0.0f;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="comment">// Hessian form (D = nc . p_plane (centroid here) + p)</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      normal[3] = -1 * normal.dot (point.getVector4fMap ());</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  flipNormalTowardsViewpoint (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keywordtype">float</span> vp_x, <span class="keywordtype">float</span> vp_y, <span class="keywordtype">float</span> vp_z,</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                              Eigen::Matrix&lt;Scalar, 3, 1&gt;&amp; normal)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    Eigen::Matrix &lt;Scalar, 3, 1&gt; vp (vp_x - point.x, vp_y - point.y, vp_z - point.z);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="comment">// Flip the plane normal</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">if</span> (vp.dot (normal) &lt; 0)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      normal *= -1;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  flipNormalTowardsViewpoint (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keywordtype">float</span> vp_x, <span class="keywordtype">float</span> vp_y, <span class="keywordtype">float</span> vp_z,</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                              <span class="keywordtype">float</span> &amp;nx, <span class="keywordtype">float</span> &amp;ny, <span class="keywordtype">float</span> &amp;nz)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="comment">// See if we need to flip any plane normals</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    vp_x -= point.x;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    vp_y -= point.y;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    vp_z -= point.z;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="comment">// Dot product between the (viewpoint - point) and the plane normal</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordtype">float</span> cos_theta = (vp_x * nx + vp_y * ny + vp_z * nz);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="comment">// Flip the plane normal</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordflow">if</span> (cos_theta &lt; 0)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      nx *= -1;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      ny *= -1;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      nz *= -1;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  }</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_estimation.html">  199</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_normal_estimation.html">NormalEstimation</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature.html">Feature</a>&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;NormalEstimation&lt;PointInT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const NormalEstimation&lt;PointInT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Feature&lt;PointInT, PointOutT&gt;::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      </div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_estimation.html#a03cd56f79d35ea7202c3eda764c6d085">  217</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_estimation.html#a03cd56f79d35ea7202c3eda764c6d085">NormalEstimation</a> () </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      : <a class="code" href="classpcl_1_1_normal_estimation.html#a972e9847b30c5baf8738c5956e321370">vpx_</a> (0)</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      , vpy_ (0)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      , vpz_ (0)</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      , <a class="code" href="classpcl_1_1_normal_estimation.html#a1a5638a31a9be8d78129e1edffe52c45">covariance_matrix_</a> ()</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      , <a class="code" href="classpcl_1_1_normal_estimation.html#ac061ee015f9f914ae54cf27296e0e9ca">xyz_centroid_</a> ()</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      , <a class="code" href="classpcl_1_1_normal_estimation.html#a3d3ebf091502d08f19d5b1d123fa535c">use_sensor_origin_</a> (true)</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      {</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;NormalEstimation&quot;</span>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      };</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      </div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_estimation.html#ac09f7d03d9407bbe3317add0f7c68233">  229</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_normal_estimation.html#ac09f7d03d9407bbe3317add0f7c68233">~NormalEstimation</a> () {}</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_estimation.html#abd83b3241b46704f1ffc424dee2aa031">  242</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_estimation.html#abd83b3241b46704f1ffc424dee2aa031">computePointNormal</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;                          Eigen::Vector4f &amp;plane_parameters, <span class="keywordtype">float</span> &amp;curvature)</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="keywordflow">if</span> (indices.size () &lt; 3 ||</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;            <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (cloud, indices, <a class="code" href="classpcl_1_1_normal_estimation.html#a1a5638a31a9be8d78129e1edffe52c45">covariance_matrix_</a>, <a class="code" href="classpcl_1_1_normal_estimation.html#ac061ee015f9f914ae54cf27296e0e9ca">xyz_centroid_</a>) == 0)</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        {</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;          plane_parameters.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          curvature = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <span class="comment">// Get the plane normal and surface curvature</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        solvePlaneParameters (<a class="code" href="classpcl_1_1_normal_estimation.html#a1a5638a31a9be8d78129e1edffe52c45">covariance_matrix_</a>, <a class="code" href="classpcl_1_1_normal_estimation.html#ac061ee015f9f914ae54cf27296e0e9ca">xyz_centroid_</a>, plane_parameters, curvature);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00271"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_estimation.html#a819fe2980b5e532780209b75f17d02ff">  271</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_estimation.html#a819fe2980b5e532780209b75f17d02ff">computePointNormal</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;                          <span class="keywordtype">float</span> &amp;nx, <span class="keywordtype">float</span> &amp;ny, <span class="keywordtype">float</span> &amp;nz, <span class="keywordtype">float</span> &amp;curvature)</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      {</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        <span class="keywordflow">if</span> (indices.size () &lt; 3 ||</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;            <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (cloud, indices, <a class="code" href="classpcl_1_1_normal_estimation.html#a1a5638a31a9be8d78129e1edffe52c45">covariance_matrix_</a>, <a class="code" href="classpcl_1_1_normal_estimation.html#ac061ee015f9f914ae54cf27296e0e9ca">xyz_centroid_</a>) == 0)</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        {</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;          nx = ny = nz = curvature = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        }</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        <span class="comment">// Get the plane normal and surface curvature</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        solvePlaneParameters (<a class="code" href="classpcl_1_1_normal_estimation.html#a1a5638a31a9be8d78129e1edffe52c45">covariance_matrix_</a>, nx, ny, nz, curvature);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      }</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_estimation.html#ac92dbbea9d923754b3d87d981a6bd131">  290</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_estimation.html#ac92dbbea9d923754b3d87d981a6bd131">setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud)</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      {</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a> = cloud;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_normal_estimation.html#a3d3ebf091502d08f19d5b1d123fa535c">use_sensor_origin_</a>)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        {</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;          <a class="code" href="classpcl_1_1_normal_estimation.html#a972e9847b30c5baf8738c5956e321370">vpx_</a> = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;sensor_origin_.coeff (0);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;          vpy_ = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;sensor_origin_.coeff (1);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;          vpz_ = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;sensor_origin_.coeff (2);</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        }</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      }</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00307"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_estimation.html#a215cb3a84f03a4346556219121fce8e5">  307</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_estimation.html#a215cb3a84f03a4346556219121fce8e5">setViewPoint</a> (<span class="keywordtype">float</span> vpx, <span class="keywordtype">float</span> vpy, <span class="keywordtype">float</span> vpz)</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      {</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <a class="code" href="classpcl_1_1_normal_estimation.html#a972e9847b30c5baf8738c5956e321370">vpx_</a> = vpx;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        vpy_ = vpy;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        vpz_ = vpz;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        <a class="code" href="classpcl_1_1_normal_estimation.html#a3d3ebf091502d08f19d5b1d123fa535c">use_sensor_origin_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      }</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_estimation.html#acaa46c32b817cbd5ff6120d9e04326e6">  324</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_estimation.html#acaa46c32b817cbd5ff6120d9e04326e6">getViewPoint</a> (<span class="keywordtype">float</span> &amp;vpx, <span class="keywordtype">float</span> &amp;vpy, <span class="keywordtype">float</span> &amp;vpz)</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      {</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        vpx = <a class="code" href="classpcl_1_1_normal_estimation.html#a972e9847b30c5baf8738c5956e321370">vpx_</a>;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        vpy = vpy_;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        vpz = vpz_;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      }</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00336"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_estimation.html#ab9bb23cd42dbb1d7bbbcde41b678fda4">  336</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_estimation.html#ab9bb23cd42dbb1d7bbbcde41b678fda4">useSensorOriginAsViewPoint</a> ()</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      {</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        <a class="code" href="classpcl_1_1_normal_estimation.html#a3d3ebf091502d08f19d5b1d123fa535c">use_sensor_origin_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>)</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        {</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;          <a class="code" href="classpcl_1_1_normal_estimation.html#a972e9847b30c5baf8738c5956e321370">vpx_</a> = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;sensor_origin_.coeff (0);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;          vpy_ = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;sensor_origin_.coeff (1);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;          vpz_ = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;sensor_origin_.coeff (2);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        }</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        {</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;          <a class="code" href="classpcl_1_1_normal_estimation.html#a972e9847b30c5baf8738c5956e321370">vpx_</a> = 0;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;          vpy_ = 0;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;          vpz_ = 0;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        }</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      }</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      <a class="code" href="classpcl_1_1_normal_estimation.html#ab92b273e74599e5995a892c188314347">computeFeature</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_estimation.html#a972e9847b30c5baf8738c5956e321370">  364</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_normal_estimation.html#a972e9847b30c5baf8738c5956e321370">vpx_</a>, vpy_, vpz_;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_estimation.html#a1a5638a31a9be8d78129e1edffe52c45">  367</a></span>&#160;      EIGEN_ALIGN16 Eigen::Matrix3f <a class="code" href="classpcl_1_1_normal_estimation.html#a1a5638a31a9be8d78129e1edffe52c45">covariance_matrix_</a>;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_estimation.html#ac061ee015f9f914ae54cf27296e0e9ca">  370</a></span>&#160;      Eigen::Vector4f <a class="code" href="classpcl_1_1_normal_estimation.html#ac061ee015f9f914ae54cf27296e0e9ca">xyz_centroid_</a>;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      </div>
<div class="line"><a name="l00373"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_estimation.html#a3d3ebf091502d08f19d5b1d123fa535c">  373</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_normal_estimation.html#a3d3ebf091502d08f19d5b1d123fa535c">use_sensor_origin_</a>;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  };</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;}</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/normal_3d.hpp&gt;</span></div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_NORMAL_3D_H_</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="ttc" id="acentroid_8h_html"><div class="ttname"><a href="centroid_8h.html">centroid.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation</a></div><div class="ttdoc">NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point....</div><div class="ttdef"><b>Definition:</b> normal_3d.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_a03cd56f79d35ea7202c3eda764c6d085"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#a03cd56f79d35ea7202c3eda764c6d085">pcl::NormalEstimation::NormalEstimation</a></div><div class="ttdeci">NormalEstimation()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> normal_3d.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_a1a5638a31a9be8d78129e1edffe52c45"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#a1a5638a31a9be8d78129e1edffe52c45">pcl::NormalEstimation::covariance_matrix_</a></div><div class="ttdeci">EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix_</div><div class="ttdoc">Placeholder for the 3x3 covariance matrix at each surface patch.</div><div class="ttdef"><b>Definition:</b> normal_3d.h:367</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_a215cb3a84f03a4346556219121fce8e5"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#a215cb3a84f03a4346556219121fce8e5">pcl::NormalEstimation::setViewPoint</a></div><div class="ttdeci">void setViewPoint(float vpx, float vpy, float vpz)</div><div class="ttdoc">Set the viewpoint.</div><div class="ttdef"><b>Definition:</b> normal_3d.h:307</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_a3d3ebf091502d08f19d5b1d123fa535c"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#a3d3ebf091502d08f19d5b1d123fa535c">pcl::NormalEstimation::use_sensor_origin_</a></div><div class="ttdeci">bool use_sensor_origin_</div><div class="ttdef"><b>Definition:</b> normal_3d.h:373</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_a819fe2980b5e532780209b75f17d02ff"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#a819fe2980b5e532780209b75f17d02ff">pcl::NormalEstimation::computePointNormal</a></div><div class="ttdeci">bool computePointNormal(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;indices, float &amp;nx, float &amp;ny, float &amp;nz, float &amp;curvature)</div><div class="ttdoc">Compute the Least-Squares plane fit for a given set of points, using their indices,...</div><div class="ttdef"><b>Definition:</b> normal_3d.h:271</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_a972e9847b30c5baf8738c5956e321370"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#a972e9847b30c5baf8738c5956e321370">pcl::NormalEstimation::vpx_</a></div><div class="ttdeci">float vpx_</div><div class="ttdoc">Values describing the viewpoint (&quot;pinhole&quot; camera model assumed). For per point viewpoints,...</div><div class="ttdef"><b>Definition:</b> normal_3d.h:364</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_ab92b273e74599e5995a892c188314347"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#ab92b273e74599e5995a892c188314347">pcl::NormalEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate normals for all points given in &lt;setInputCloud (), setIndices ()&gt; using the surface in setSe...</div><div class="ttdef"><b>Definition:</b> normal_3d.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_ab9bb23cd42dbb1d7bbbcde41b678fda4"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#ab9bb23cd42dbb1d7bbbcde41b678fda4">pcl::NormalEstimation::useSensorOriginAsViewPoint</a></div><div class="ttdeci">void useSensorOriginAsViewPoint()</div><div class="ttdoc">sets whether the sensor origin or a user given viewpoint should be used. After this method,...</div><div class="ttdef"><b>Definition:</b> normal_3d.h:336</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_abd83b3241b46704f1ffc424dee2aa031"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#abd83b3241b46704f1ffc424dee2aa031">pcl::NormalEstimation::computePointNormal</a></div><div class="ttdeci">bool computePointNormal(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;indices, Eigen::Vector4f &amp;plane_parameters, float &amp;curvature)</div><div class="ttdoc">Compute the Least-Squares plane fit for a given set of points, using their indices,...</div><div class="ttdef"><b>Definition:</b> normal_3d.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_ac061ee015f9f914ae54cf27296e0e9ca"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#ac061ee015f9f914ae54cf27296e0e9ca">pcl::NormalEstimation::xyz_centroid_</a></div><div class="ttdeci">Eigen::Vector4f xyz_centroid_</div><div class="ttdoc">16-bytes aligned placeholder for the XYZ centroid of a surface patch.</div><div class="ttdef"><b>Definition:</b> normal_3d.h:370</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_ac09f7d03d9407bbe3317add0f7c68233"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#ac09f7d03d9407bbe3317add0f7c68233">pcl::NormalEstimation::~NormalEstimation</a></div><div class="ttdeci">virtual ~NormalEstimation()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> normal_3d.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_ac92dbbea9d923754b3d87d981a6bd131"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#ac92dbbea9d923754b3d87d981a6bd131">pcl::NormalEstimation::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> normal_3d.h:290</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_acaa46c32b817cbd5ff6120d9e04326e6"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#acaa46c32b817cbd5ff6120d9e04326e6">pcl::NormalEstimation::getViewPoint</a></div><div class="ttdeci">void getViewPoint(float &amp;vpx, float &amp;vpy, float &amp;vpz)</div><div class="ttdoc">Get the viewpoint.</div><div class="ttdef"><b>Definition:</b> normal_3d.h:324</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="agroup__common_html_ga72dfb6e965df9752c88790e026a8ab5f"><div class="ttname"><a href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single lo...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:489</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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